package org.kealinghornets.nxtdroid;

import org.kealinghornets.nxtdroid.NXT.LightSensor;
import org.kealinghornets.nxtdroid.NXT.NXTThread;

/**
 * Created by jychuah on 11/3/13.
 */
public class MyNXTThread extends NXTThread {

    int state = 1;
    LightSensor eyeball;

    public MyNXTThread() {
        setNXTThreadName("Bridge Crosser");
    }

    public void run() {
        while (state != -1) {
            switch(state) {
                case 1 : do_state_1(); break;
                case 2 : do_state_2(); break;
                case 3 : do_state_3(); break;
                case 4 : do_state_4(); break;
                case 5 : do_state_5(); break;
                case 6 : do_state_6(); break;
            //    case 7 : do_state_7(); break;
                default : state = -1; break;
            }
        }
    }

    public void do_state_1() {
        eyeball = getActiveLightSensor(PORT_1);
        runMotor (PORT_A, 100);
         runMotor (PORT_B, -100);
        wait (1000);
        log("I'm in state 1");

        if (eyeball.getLightValue() > 500) {
            state = 2;
        } else {
            state = 3;
        }

    }

    public void do_state_2() {
        runMotor(PORT_A, 100);
        runMotor(PORT_B, 100);
        wait (750);
        stopMotor(PORT_A);
        stopMotor (PORT_B);
        log ("I'm in state 2");
        state = 4;
    }

    public void do_state_3() {
        runMotor (PORT_A, -100);
        runMotor (PORT_B, 100);
        wait (2000);
        stopMotor (PORT_A);
        stopMotor (PORT_B);
        log ("I'm in state 3");
        state = 4;
    }

    public void do_state_4() {
        runMotor (PORT_A, -100);
        runMotor (PORT_B, 100);
        wait(750);
        log("I'm in state 4");
        if (eyeball.getLightValue() > 500) {
            state = 5;
        } else {
            state = 6;
     }
    }

    public void do_state_5()  {
    runMotor (PORT_A, 100);
    runMotor (PORT_B, 100);
    wait(1500);
    stopMotor (PORT_A);
    stopMotor (PORT_B);
    state = 7;

    }

    public void do_state_6(){
        runMotor (PORT_A, -100);
        runMotor (PORT_B, 100);
        wait (2000);
    }
    }
